Singularity-theoretic methods in robot kinematics

SUMMARY The significance of singularities in the design and control of robot manipulators is well known, and there is an extensive literature on the determination and analysis of singularities for a wide variety of serial and parallel manipulators—indeed such an analysis is an essential part of manipulator design. Singularity theory provides methodologies for a deeper analysis with the aim of classifying singularities, providing local models and local and global invariants. This paper surveys applications of singularity-theoretic methods in robot kinematics and presents some new results.